Mukund Pandiri / Mbed 2 deprecated segway-selfBalancingRobot

segway_self balancing robot 4180 project

Dependencies:   mbed mbed-rtos LSM9DS1_Library

main.cpp@13:c00ddcfea79f, 2020-04-18 (annotated)

Committer:
pandirimukund
Date:
Sat Apr 18 20:49:31 2020 +0000
Revision:
13:c00ddcfea79f
Parent:
12:980c06d63425
Child:
14:89bb16d03b15
made baseline layout for the code;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
pandirimukund 0:49139eec4c55 1 #include "mbed.h"
lrucker7 11:c669b4dc1f9f 2 #include "rtos.h"
pandirimukund 0:49139eec4c55 3
pandirimukund 0:49139eec4c55 4
pandirimukund 13:c00ddcfea79f 5 ///////////////////////////////////////////////////////////////////////////////
pandirimukund 13:c00ddcfea79f 6 ///////////////////////////// Variable Initialization//////////////////////////
pandirimukund 13:c00ddcfea79f 7 ///////////////////////////////////////////////////////////////////////////////
pandirimukund 7:8af26d50c006 8 Ticker bluetooth;
pandirimukund 7:8af26d50c006 9 Serial pc(USBTX, USBRX);
pandirimukund 7:8af26d50c006 10
lrucker7 11:c669b4dc1f9f 11 Mutex parametersmutex;
pandirimukund 13:c00ddcfea79f 12 Serial blue(p28, p27);
pandirimukund 7:8af26d50c006 13
pandirimukund 13:c00ddcfea79f 14 ///////////////////////////////////////////////////////////////////////////////
pandirimukund 13:c00ddcfea79f 15 ///////////////////////////// Control System Variables/////////////////////////
pandirimukund 13:c00ddcfea79f 16 ///////////////////////////////////////////////////////////////////////////////
pandirimukund 7:8af26d50c006 17 float rp = 50;
pandirimukund 7:8af26d50c006 18 float rd = 51;
pandirimukund 7:8af26d50c006 19 float ri = 50;
pandirimukund 7:8af26d50c006 20 float desired_angle = 0;
pandirimukund 13:c00ddcfea79f 21
pandirimukund 13:c00ddcfea79f 22
pandirimukund 7:8af26d50c006 23
pandirimukund 13:c00ddcfea79f 24 ///////////////////////////////////////////////////////////////////////////////
pandirimukund 13:c00ddcfea79f 25 ///////////////////////////// Bluetooth Section ///////////////////////////////
pandirimukund 13:c00ddcfea79f 26 ///////////////////////////////////////////////////////////////////////////////
pandirimukund 7:8af26d50c006 27 void bluetooth_update() {
pandirimukund 12:980c06d63425 28 char bnum = 0;
pandirimukund 12:980c06d63425 29 char bhit = 0;
pandirimukund 12:980c06d63425 30 while (1) {
pandirimukund 12:980c06d63425 31 if (blue.getc() == '!') {
pandirimukund 12:980c06d63425 32 if (blue.getc() == 'B') { //button data packet
pandirimukund 12:980c06d63425 33 bnum = blue.getc(); //button number
pandirimukund 12:980c06d63425 34 //pc.printf("%d",bnum);
pandirimukund 12:980c06d63425 35 bhit = blue.getc(); //1=hit, 0=release
pandirimukund 12:980c06d63425 36 parametersmutex.lock();
pandirimukund 12:980c06d63425 37 if (blue.getc() == char(~('!' + 'B' + bnum + bhit))) { //checksum OK?
pandirimukund 12:980c06d63425 38 myled = bnum - '0'; //current button number will appear on LEDs
pandirimukund 12:980c06d63425 39 switch (bnum) {
pandirimukund 7:8af26d50c006 40 case '1': //number button 1
pandirimukund 12:980c06d63425 41 if (bhit == '1') {
pandirimukund 7:8af26d50c006 42 rd += 1;
pandirimukund 7:8af26d50c006 43 } else {
pandirimukund 7:8af26d50c006 44 //add release code here
pandirimukund 7:8af26d50c006 45 }
pandirimukund 7:8af26d50c006 46 break;
pandirimukund 7:8af26d50c006 47 case '2': //number button 2
pandirimukund 12:980c06d63425 48 if (bhit == '1') {
pandirimukund 7:8af26d50c006 49 ri += 1;
pandirimukund 7:8af26d50c006 50 } else {
pandirimukund 7:8af26d50c006 51 //add release code here
pandirimukund 7:8af26d50c006 52 }
pandirimukund 7:8af26d50c006 53 break;
pandirimukund 7:8af26d50c006 54 case '3': //number button 3
pandirimukund 12:980c06d63425 55 if (bhit == '1') {
pandirimukund 7:8af26d50c006 56 rd -= 1;
pandirimukund 7:8af26d50c006 57 } else {
pandirimukund 7:8af26d50c006 58 //add release code here
pandirimukund 7:8af26d50c006 59 }
pandirimukund 7:8af26d50c006 60 break;
pandirimukund 7:8af26d50c006 61 case '4': //number button 4
pandirimukund 12:980c06d63425 62 if (bhit == '1') {
pandirimukund 7:8af26d50c006 63 ri -= 1;
pandirimukund 7:8af26d50c006 64 } else {
pandirimukund 7:8af26d50c006 65 //add release code here
pandirimukund 7:8af26d50c006 66 }
pandirimukund 7:8af26d50c006 67 break;
pandirimukund 7:8af26d50c006 68 case '5': //button 5 up arrow
pandirimukund 12:980c06d63425 69 if (bhit == '1') {
pandirimukund 7:8af26d50c006 70 rp += 1;
pandirimukund 7:8af26d50c006 71 } else {
pandirimukund 7:8af26d50c006 72 //add release code here
pandirimukund 7:8af26d50c006 73 }
pandirimukund 7:8af26d50c006 74 break;
pandirimukund 7:8af26d50c006 75 case '6': //button 6 down arrow
pandirimukund 12:980c06d63425 76 if (bhit == '1') {
pandirimukund 7:8af26d50c006 77 rp -= 1;
pandirimukund 7:8af26d50c006 78 } else {
pandirimukund 7:8af26d50c006 79 //add release code here
pandirimukund 7:8af26d50c006 80 }
pandirimukund 7:8af26d50c006 81 break;
pandirimukund 7:8af26d50c006 82 case '7': //button 7 left arrow
pandirimukund 12:980c06d63425 83 if (bhit == '1') {
pandirimukund 7:8af26d50c006 84 desired_angle -= 1;
pandirimukund 7:8af26d50c006 85 } else {
pandirimukund 7:8af26d50c006 86 //add release code here
pandirimukund 7:8af26d50c006 87 }
pandirimukund 7:8af26d50c006 88 break;
pandirimukund 7:8af26d50c006 89 case '8': //button 8 right arrow
pandirimukund 12:980c06d63425 90 if (bhit == '1') {
pandirimukund 7:8af26d50c006 91 desired_angle += 1;
pandirimukund 7:8af26d50c006 92 } else {
pandirimukund 7:8af26d50c006 93 //add release code here
pandirimukund 7:8af26d50c006 94 }
pandirimukund 7:8af26d50c006 95 break;
pandirimukund 7:8af26d50c006 96 default:
pandirimukund 7:8af26d50c006 97 break;
pandirimukund 12:980c06d63425 98 }
pandirimukund 7:8af26d50c006 99 }
pandirimukund 12:980c06d63425 100 parametersmutex.unlock();
pandirimukund 7:8af26d50c006 101 }
pandirimukund 7:8af26d50c006 102 }
pandirimukund 12:980c06d63425 103 Thread::wait(100);
lrucker7 11:c669b4dc1f9f 104 }
pandirimukund 0:49139eec4c55 105 }
pandirimukund 7:8af26d50c006 106
pandirimukund 13:c00ddcfea79f 107
pandirimukund 13:c00ddcfea79f 108 ///////////////////////////////////////////////////////////////////////////////
pandirimukund 13:c00ddcfea79f 109 ///////////////////////////// Control System Updates///////////////////////////
pandirimukund 13:c00ddcfea79f 110 ///////////////////////////////////////////////////////////////////////////////
pandirimukund 13:c00ddcfea79f 111 //make the calls to IMU here and this should be another thread
pandirimukund 13:c00ddcfea79f 112 void update_system() {
pandirimukund 13:c00ddcfea79f 113 return;
pandirimukund 13:c00ddcfea79f 114 }
pandirimukund 13:c00ddcfea79f 115
pandirimukund 13:c00ddcfea79f 116
pandirimukund 13:c00ddcfea79f 117 ///////////////////////////////////////////////////////////////////////////////
pandirimukund 13:c00ddcfea79f 118 ///////////////////////////// IMU STUFF////////////////////////////////////////
pandirimukund 13:c00ddcfea79f 119 ///////////////////////////////////////////////////////////////////////////////
pandirimukund 13:c00ddcfea79f 120 void calibrate_imu() {
pandirimukund 13:c00ddcfea79f 121 return;
pandirimukund 13:c00ddcfea79f 122 }
pandirimukund 13:c00ddcfea79f 123
pandirimukund 13:c00ddcfea79f 124 void get_current_angle() {
pandirimukund 13:c00ddcfea79f 125 return;
pandirimukund 13:c00ddcfea79f 126 }
pandirimukund 13:c00ddcfea79f 127
pandirimukund 13:c00ddcfea79f 128
pandirimukund 13:c00ddcfea79f 129
pandirimukund 13:c00ddcfea79f 130
pandirimukund 13:c00ddcfea79f 131 ///////////////////////////////////////////////////////////////////////////////
pandirimukund 13:c00ddcfea79f 132 ///////////////////////////// Running Main Function////////////////////////////
pandirimukund 13:c00ddcfea79f 133 ///////////////////////////////////////////////////////////////////////////////
pandirimukund 13:c00ddcfea79f 134
pandirimukund 7:8af26d50c006 135 int main() {
pandirimukund 7:8af26d50c006 136 pc.printf("this is running");
lrucker7 11:c669b4dc1f9f 137 Thread bluetooth;
pandirimukund 13:c00ddcfea79f 138 Thread system_update;
lrucker7 11:c669b4dc1f9f 139 bluetooth.start(bluetooth_update);
pandirimukund 13:c00ddcfea79f 140 system_update.start(update_system);
lrucker7 9:28821420f7a4 141 //bluetooth.attach(&bluetooth_update, 0.1);
pandirimukund 12:980c06d63425 142 while (1) {
lrucker7 11:c669b4dc1f9f 143 //bluetooth_update();
lrucker7 11:c669b4dc1f9f 144 parametersmutex.lock();
lrucker7 9:28821420f7a4 145 pc.printf("rp: %f, rd: %f, ri: %f, desired_angle: %f\n", rp, rd, ri, desired_angle);
lrucker7 11:c669b4dc1f9f 146 parametersmutex.unlock();
lrucker7 11:c669b4dc1f9f 147 Thread::wait(100);
pandirimukund 7:8af26d50c006 148 }
pandirimukund 7:8af26d50c006 149 }
pandirimukund 7:8af26d50c006 150